docs: def transform_from_dual_quaternion(dq, from_frame='unassigned', to_frame='world'):
          """Create a RigidTransform from a DualQuaternion.
  
          Parameters
          ----------
          dq : :obj:`DualQuaternion`
              The DualQuaternion to transform.
  
          from_frame : :obj:`str`
              A name for the frame of reference on which this transform
              operates.
  
          to_frame : :obj:`str`
              A name for the frame of reference to which this transform
              moves objects.
  
          Returns
          -------
          :obj:`RigidTransform`
              The RigidTransform made from the DualQuaternion.
          """
          quaternion = dq.qr
          translation = 2 * dq.qd[1:]
          return RigidTransform(rotation=quaternion, translation=translation, from_frame=from_frame, to_frame=to_frame)